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Revert accidental change to MyRobot.cpp (#2029)

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This commit is contained in:
Peter Johnson
2019-11-02 21:06:22 -07:00
committed by GitHub
parent ed30d5d40e
commit 96d40192ae
1 changed files with 2 additions and 40 deletions
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42
myRobot/src/main/native/cpp/MyRobot.cpp
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@@ -7,42 +7,12 @@
#include <frc/TimedRobot.h>
#include <hal/CAN.h>
#include <hal/DIO.h>
#include <hal/DutyCycle.h>
#include <hal/HALBase.h>
#include "frc/smartdashboard/SmartDashboard.h"
HAL_DigitalHandle inputHandle;
HAL_DutyCycleHandle dutyCycleHandle;
class MyRobot : public frc::TimedRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
void RobotInit() override {
int32_t status = 0;
inputHandle = HAL_InitializeDIOPort(HAL_GetPort(9), true, &status);
std::cout << "DIO Status: " << status << std::endl;
dutyCycleHandle = HAL_InitializeDutyCycle(
inputHandle, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
std::cout << "Duty Cycle Status: " << status << std::endl;
// float pbs = 0;
// uint32_t boc = 0;
// uint32_t txfc = 0;
// uint32_t rec = 0;
// uint32_t tec = 0;
status = 0;
auto start = HAL_GetFPGATime(&status);
// HAL_CAN_GetCANStatus(&pbs, &boc, &txfc, &rec, &tec, &status);
uint8_t data = 0;
HAL_CAN_SendMessage(0, &data, 1, HAL_CAN_SEND_PERIOD_NO_REPEAT, &status);
auto end = HAL_GetFPGATime(&status);
std::cout << "Start " << start << " end " << end << std::endl;
}
void RobotInit() override {}
/**
* This function is run once each time the robot enters autonomous mode
@@ -72,15 +42,7 @@ class MyRobot : public frc::TimedRobot {
/**
* This function is called periodically during all modes
*/
void RobotPeriodic() override {
int32_t status = 0;
auto freq = HAL_GetDutyCycleFrequency(dutyCycleHandle, &status);
auto raw = HAL_GetDutyCycleOutputRaw(dutyCycleHandle, &status);
auto percentage = HAL_GetDutyCycleOutput(dutyCycleHandle, &status);
frc::SmartDashboard::PutNumber("Freq", freq);
frc::SmartDashboard::PutNumber("Raw", raw);
frc::SmartDashboard::PutNumber("Percentage", percentage);
}
void RobotPeriodic() override {}
};
int main() { return frc::StartRobot<MyRobot>(); }